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fixed kinematic bodies not waking dynamic bodies on contact #327

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fixed kinematic bodies not waking dynamic bodies on contact #327

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17 changes: 14 additions & 3 deletions src/geometry/narrow_phase.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -480,7 +480,7 @@ impl NarrowPhase {

// Add the paid removed pair to the relevant graph.
for pair in pairs_to_remove {
self.add_pair(colliders, &pair.0);
self.add_pair(islands.as_deref_mut(), colliders, bodies, &pair.0);
}
}

Expand Down Expand Up @@ -556,7 +556,8 @@ impl NarrowPhase {
}
}

fn add_pair(&mut self, colliders: &ColliderSet, pair: &ColliderPair) {
fn add_pair(&mut self, islands: Option<&mut IslandManager>, colliders: &ColliderSet, bodies: &mut RigidBodySet, pair: &ColliderPair)
{
if let (Some(co1), Some(co2)) =
(colliders.get(pair.collider1), colliders.get(pair.collider2))
{
Expand Down Expand Up @@ -630,6 +631,16 @@ impl NarrowPhase {
);
}
}

if let Some(islands) = islands {
if let Some(co_parent1) = co1.parent {
islands.wake_up(bodies, co_parent1.handle, true);
}

if let Some(co_parent2) = co2.parent {
islands.wake_up(bodies, co_parent2.handle, true);
}
}
}
}

Expand All @@ -644,7 +655,7 @@ impl NarrowPhase {
for event in broad_phase_events {
match event {
BroadPhasePairEvent::AddPair(pair) => {
self.add_pair(colliders, pair);
self.add_pair(islands.as_deref_mut(), colliders, bodies, pair);
}
BroadPhasePairEvent::DeletePair(pair) => {
self.remove_pair(
Expand Down